Multirotor Sizing Methodology with Flight Time Estimation

Table 6

Drone parameters used in further testing.

Name	GTQ Mini [8]	IRIS+ [21, 24]	PD6-AW2 BASIC [25]	Fox 4 [26]
Take-off mass [kg]	0.5	1.3	10	4
Thrust-to-weight ratio	2	2.6	3.5	2.5
Rotor count	4	4	6	4
Min. propeller diameter [inch]	3	8	18	10
Max. propeller diameter [inch]	5	10	21	15
Battery cell count	4	3	6	6
Battery capacity [mAh]	850	5100	2  16000	2  5000